CN101234620B - Intelligent back vision device for vehicle - Google Patents
Intelligent back vision device for vehicle Download PDFInfo
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- CN101234620B CN101234620B CN2008100339852A CN200810033985A CN101234620B CN 101234620 B CN101234620 B CN 101234620B CN 2008100339852 A CN2008100339852 A CN 2008100339852A CN 200810033985 A CN200810033985 A CN 200810033985A CN 101234620 B CN101234620 B CN 101234620B
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Abstract
The invention relates to a vehicle intelligent backsight device in a vehicle intelligent technical field. Three needle cameras are arranged in the device; two cameras are respectively arranged on the rearview mirrors on a left and a right side of the vehicle; one camera is arranged on a back baffle of a carriage; outputting interfaces of the three needle cameras are connected with three image inputting interfaces of a signal processor respectively; the outputting interface of a driving status encoder is connected with the digital signal inputting interface of the signal processor; the signal inputting interface of the driving status encoder is connected with the outputting interface of left-turn, right-turn and astern signals of the vehicle; a first outputting interface of the signal processor is connected with a channel decoder; a second outputting interface of the signal processor is connected with a liquid crystal displayer; the outputting interface of the channel decoder is connected with the inputting interface of an electronic switch; the outputting interface of the electronic switch is simultaneously connected with the inputting interface of a locker and the inputting interface of a voice warning device. The vehicle intelligent backsight device can effectively avoid road traffic accidents caused by opening or closing vehicle doors when vehicles are changing roads, turning left or right, backward running and parking.
Description
Technical field
What the present invention relates to is a kind of device of Vehicular intelligent technical field, specifically is a kind of intelligent back vision device for vehicle.
Background technology
Existing vehicle is when driving process needs lane change or left-hand rotation or turns right; the travel conditions that all will rely on chaufeur to observe voluntarily and judge other vehicle of front and back determines whether the vehicle of oneself driving can be carried out lane change or turn left or turn right; at this moment, the regular meeting time is because the visual field of chaufeur is blocked or the influence of factor such as road conditions complexity just causes in lane change or turn left or collision happens that the vehicle of turning right and rear move ahead rapidly and lead to traffic accident.In addition, limit by the condition of road construction, the self-propelled vehicle of the many roads in city, bicycle lane can not be isolated with obstacles such as railings, and driving Men Yi brought out the collision with unpowered vehicle when self-propelled vehicle was parked temporarily.Though the law on road traffic safety and implementing regulations etc. thereof are all emphasized " curb parking should be near the road right side; the switch car door must not other vehicles and pedestrians of overslaugh ", but because the passengers inside the car or the consciousness of being eager to get off or lack tend to cause car door opening process accident to injure pedestrian or other vehicle.What is more, and the taxi driver is eager for instant success and quick profits, the time regular meeting the passenger and cause the heavy traffic accident that injures pedestrian and other vehicle to take place up and down in a hurry Anywhere of road.With regard to current this traffic accident present situation, only rely on and emphasize that " law on road traffic safety " and implementing regulations thereof obviously are not enough, also can not reach comprehensive lifting people's the legal system consciousness and the purpose of awareness of safety in a short time, therefore also must increase the high performance of vehicle, prevent the generation of this type of road accident by the pioneering technology means.
Find by prior art documents, the Chinese invention patent application number is 200610049671.2 patent, patent name is: a kind of intelligent rear-viewing system of vehicle, this patent comprises: through special-purpose link and the whole rear-view mirror body that is connected as a single entity, be provided with intelligent no-glare assembly and vehicle traveling information display module in the rear-view mirror body, this information display module includes the information display window that is installed on the photo chromic glass, photo chromic glass is for having electrochomeric glass or liquid-crystalline glasses, be provided with intelligent control unit and sensor module in the back-mirror housing, the no-glare assembly adopts preceding photosensor and the back photosensor in the sensor module, this patent can be eliminated the influence that the environmental light intensity fluctuation changes according to the light intensity signal of preceding photosensor and back photosensor collection automatically by programming control.This patent is that " no-glare " causes traffic accident to avoid chaufeur because of dysopia, do not possess and can the Intelligent Recognition and the judgement of rear preceding vehicle motoring condition more do not possessed the safe automatic guidance function that can ensure when current vehicle is carried out lane change or left-hand rotation or right-hand rotation.
Summary of the invention
The objective of the invention is to overcome above-mentioned deficiency of the prior art, a kind of intelligent back vision device for vehicle is provided, make vehicle carry out lane change or turn or can effectively avoid collision with left back or right abaft preceding vehicle during reversing, can also ensure when vehicle immobilization that passengers inside the car bump self-propelled vehicle, unpowered vehicle and the pedestrian that switch car door process can not take place to move ahead with the rear at driving process.
The present invention is achieved by the following technical solutions, the present invention includes: pinhole cameras, the driving condition coder, signal processor, channel decoder, electronic switching device, lock, voice prompting device, Liquid Crystal Display (LCD), wherein: pinhole cameras has three, on the back mirror that two are separately positioned on the left and right vehicle wheel both sides, one is arranged on the compartment back shield, the output interface of three pinhole cameras links to each other with three image input interfaces of signal processor respectively, the output interface of driving condition coder is connected with the digital signal input interface of signal processor, the signal input interface of driving condition coder and the left-hand rotation of vehicle, turn right and link to each other with the astern signal output interface, signal processor has two output interfaces, first output interface of signal processor links to each other with the input interface of channel decoder, second output interface of signal processor is connected to the input interface of Liquid Crystal Display (LCD), the output interface of channel decoder is connected with the control input interface of electronic switching device, and the output interface of electronic switching device is connected with the input interface of lock and the input interface of voice prompting device simultaneously.
The left-hand rotation of described vehicle, right-hand rotation and astern signal output interface are exactly left-hand rotation, right-hand rotation and the astern signal lamp electrode both end voltage signal output interface of vehicle, and the signal of its output is called the driver behavior on-off signal.
Described pinhole cameras, its kernel is the field-effect semiconductor image sensor chip, it is a kind of field-effect semiconductor imageing sensor, be called for short the CMOS camera, in three pinhole cameras, first pinhole cameras is installed on the vehicle left-external side back mirror, be left pinhole cameras, the image that is collected by left pinhole cameras is called left view, and second pinhole cameras is installed on outside the vehicle right side on the rearview mirror, is right pinhole cameras, the image that is collected by right pinhole cameras is called right elevation, the 3rd pinhole cameras is installed on the compartment back shield, is called the back pinhole cameras, and the image that is collected by the back pinhole cameras is called back view.Left and right, back three pinhole cameras are gathered left rear side, right lateral side, the dead aft scene image of vehicle by left and right, back three visual fields separately respectively, and the scene image analog signal that will collect separately is delivered to signal processor by separately output interface through vision cable respectively.
Described driving condition coder, comprise: signal input interface, signal coder, the digital signal output interface, wherein: signal input interface comprises three input channels, the input end of first passage connects the left rotaring signal output interface of vehicle, the input end of second channel connects vehicle right turn signal output interface, the input end of third channel connects the astern signal output interface of vehicle, signal coder comprises and contains three univibrators, its input end links to each other with the mouth of three input channels of signal input interface respectively, its mouth is connected with the input end of digital signal output interface, and the mouth of digital signal output interface is connected with signal processor.
As long as described univibrator receives direct-flow positive voltage, promptly be triggered output high level " 1 ", otherwise output low level " 0 ".
Described signal processor, comprise: left image input interface, right image input interface, back image input interface, the digital signal input interface, first analog-to-digital conversion module, second analog-to-digital conversion module, the 3rd analog-to-digital conversion module, the image processing program module, passage gating instruction output module, first output interface, second output interface, wherein: left image input interface links to each other with left pinhole cameras output interface through vision cable, right image input interface links to each other with right pinhole cameras output interface through vision cable, back image input interface through vision cable with after the pinhole cameras output interface link to each other, a left side, right, the mouth of back image input interface is respectively with first, second, the input end of the 3rd analog-to-digital conversion module connects, the output port of first analog-to-digital conversion module is connected with first input channel of image processing program module, the output port of second analog-to-digital conversion module is connected with second input channel of image processing program module, and the output port of the 3rd analog-to-digital conversion module is connected with the 3rd input channel of image processing program module; The digital signal output interface of the input end of digital signal input interface and driving condition coder links to each other, and the mouth of digital signal input interface is connected with the 4th input channel of image processing program module; The input port of passage gating instruction output module is connected with first output port of image processing program module, the output port of passage gating instruction output module is connected with the input end of signal processor first output interface, the mouth of signal processor first output interface is connected with the input interface of channel decoder, second output port of image processing program module is connected with the input end of signal processor second output interface, and the mouth of signal processor second output interface is connected with the input interface of Liquid Crystal Display (LCD).
Described image processing program module, it is the core technology module in the signal processor, comprise: the image pre-processing module, the Image Edge-Detection module, decision-making computing module and decision-making execution command output module, wherein: four input channels of image pre-processing module are connected with the output port of three analog-to-digital conversion modules and the mouth of digital signal input interface respectively, the output port of image pre-processing module is connected with the input port of Image Edge-Detection module, the output port of Image Edge-Detection module is connected with the input port of decision-making computing module, the output port of decision-making computing module is connected with the input port of decision-making execution command output module, first output port of decision-making execution command output module links to each other with passage gating instruction output module as first output port of image processing program module, and second output port of decision-making execution command output module is connected with the input end of signal processor second output interface as second output port of image processing program module.
Described image pre-processing module reception is left and right, left and right, the back view of back pinhole cameras transmission, and the data image signal that carries out obtaining behind the pretreatment is transferred to the Image Edge-Detection module;
Described Image Edge-Detection module is carried out rim detection to digital image, and exports the edge image of binaryzation to the decision-making computing module;
Described decision-making computing module carries out the view data conversion with the edge image of binaryzation by the number of pole-pairs coordinate transform, utilize the view data switching process to have object rotational invariance and convergent-divergent invariability and carry out tracking target, and then identify the state of kinematic motion of the pairing object that is captured of image, and be transferred to decision-making execution command output module;
Described decision-making execution command output module, according to the decision-making computing module that receives code output, that representing the state of kinematic motion of the object that is captured, and the driver behavior on-off signal determines whether to send to follow-up alarm module and electromechanical servo device and forbids lane change or turn or open the door or decision-making execution command such as reversing.
Described decision-making execution command comprises: " no left turn ", no right turn, forbid L.H.flapped door, forbid R.H.flapped door, five instructions of forbidding moveing backward, every instruction is represented by 32 system machine codes, and specifically: 001 is that " no left turn ", 010 is that no right turn, 011 is for forbidding that L.H.flapped door, 100 is for forbidding that R.H.flapped door, 000 is for forbidding reversing.
Described channel decoder, i.e. passage decoding module chip, its input port links to each other with first output interface of signal processor, and its output port is connected with electronic switching device.
Described electronic switching device, comprise: first input interface, electronic switch, wherein, the input termination direct supply of first input interface, and link to each other with the output port of channel decoder, the mouth of first input interface and the input port of electronic switch also connect, and electronic switch comprises five, and the mouth of five electronic switchs is connected with the input interface of lock respectively.
Described electronic switch, be NPN type semiconductor switch pipe, five electronic switching tubes adopt the semiconductor switch pipe of same specifications and models, conducting when base stage surpasses 0.7V to emitter voltage, otherwise end, utilize the switching characteristic of semiconductor switch pipe to guarantee that two kinds of mode of operation switching processs of ON/OFF have the responsive time constant of the microsecond utmost point.
Described lock, have five, first lock is the left-hand rotation lock, second lock is the right-hand rotation lock, the 3rd lock is the L.H.flapped door lock, the 4th lock is the R.H.flapped door lock, the 5th lock is a reverse lock, each lock includes: second input interface, relay switch and electromagnetism detacher, the input end of second input interface of each lock is corresponding with the mouth of five electronic switchs of five of voice prompting device input interface input terminations and electronic switching device respectively and connect, the mouth of second input interface is connected with the input end of relay switch, relay switch mouth be connected with the input end of electromagnetism detacher.
Described voice prompting device, comprise: the 3rd input interface, voltage attenuator, addressing device, digital voice module, D/A converter module, power amplifier module, loud speaker, wherein: the 3rd input interface comprises five input ends, corresponding with the mouth of five electronic switchs of the mouth of second input interface of five lock signals and electronic switching device respectively and connect, the mouth of the 3rd input interface is connected with the input port of voltage attenuator, the output port of voltage attenuator is connected with the input port of addressing device, the output port of addressing device is connected with the input port of digital voice module, the output port of digital voice module is connected with the input port of D/A converter module, the output port of D/A converter module is connected with the input port of power amplifier module, and the output port of power amplifier module is connected with the input port of loud speaker.
Described Liquid Crystal Display (LCD) is in order to the data image signal of shows signal treater output and the identifying information of scene image.
Behind the vehicle launch, apparatus of the present invention promptly enter mode of operation:
Left-hand rotation, right-hand rotation and the astern signal output interface of the signal input interface of driving condition coder by vehicle receives the dc signal from left-hand rotation, right-hand rotation and astern signal lamp electrode two ends, when left-hand rotation, right-hand rotation or astern signal lamp are opened, the left-hand rotation of vehicle, right-hand rotation or astern signal output interface output direct-flow positive voltage signal, otherwise be output as 0, the driving condition coder will be exported the digital signal input interface that result transmission is given signal processor;
Simultaneously, the scene image of left pinhole cameras continuous collecting vehicle left rear side, the scene image of right pinhole cameras continuous collecting vehicle right lateral side, the scene image in back pinhole cameras continuous collecting vehicle dead aft; The scene image analog signal that three pinhole cameras will be gathered separately respectively by separately output interface through vision cable transport to the left and right of signal processor and after the image input interface;
Signal processor is to the left side, computing is handled and discerned to the scene image of right side or rear side, wherein, the image pre-processing module receives a left side, right, the left side of back pinhole cameras transmission, right, back view, carry out obtaining data image signal behind the pretreatment and be transferred to the Image Edge-Detection module, the Image Edge-Detection module is carried out Image Edge-Detection and is exported the edge image of its binaryzation to the decision-making computing module, the decision-making computing module carries out the view data conversion with the binaryzation edge image by the number of pole-pairs coordinate transform, utilize the view data switching process to have object rotational invariance and convergent-divergent invariability and carry out tracking, and then identify the state of kinematic motion of the pairing object that is captured of image target;
Signal processor is being made the object moving state in the scene image on the basis of accurate judgement, state code according to the output of driving condition coder determines whether to send the decision-making execution command to chaufeur simultaneously, the decision-making execution command is achieved by the passage gating command signal of signal processor output, when needs send when execution command decision-making to chaufeur, signal processor delivery channel gating command signal is to channel decoder, channel decoder is according to passage gating instruction gating respective electronic switch, make vdc arrive at the input interface of cooresponding lock, lock startup relay switch driving machine electric installation wherein can be avoided the generation of chaufeur faulty operation, simultaneously under the effect of vdc, play out language to chaufeur with lock input interface and the voice prompting device that connects, remind chaufeur to stop wrong risky operation immediately, therefore can avoid vehicle to greatest extent in lane change, contingent road traffic accident when turning or moveing backward.Apparatus of the present invention are in the charging operation state all the time behind vehicle launch, apparatus of the present invention are along with vehicle motor closes, through SELF CL power supply after 2 minutes the time-delay, quit work.
Compared with prior art, the present invention has following beneficial effect: further improving automation and intelligent level aspect the support vehicles driving safety, concrete manifestation, the first, can be because of the carelessness of chaufeur in the lane change process, perhaps turn left, when perhaps turning right and left back or right abaft just bump at preceding vehicle; The second, vehicle stops, and can not bump opening self-propelled vehicle, unpowered vehicle or the pedestrian that car door process and rear moving ahead because of driver and conductor's carelessness; When three, moveing backward, therefore the road surface situation that can in time remind the chaufeur rear view of vehicle can improve safe in operation and the personnel's life support level that has vehicle now to greatest extent.Therefore really improve the safety method level of vehicle on automation, the intelligentized technological layer, avoided the generation of the road traffic accident that may occur to the utmost, protected the safety of life and property to the utmost.
Description of drawings
Fig. 1 is a system architecture scheme drawing of the present invention;
Fig. 2 is the installation site structural representation of three pinhole cameras on automobile among the present invention;
Fig. 3 is the structured flowchart of driving condition coder of the present invention;
Fig. 4 is the structured flowchart of signal processor of the present invention;
The structured flowchart of Fig. 5 position image processing program module of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in 2, present embodiment comprises: left pinhole cameras 1, right pinhole cameras 2, back pinhole cameras 3, driving condition coder 4, signal processor 5, channel decoder 6, electronic switching device 7, lock, voice prompting device 13, Liquid Crystal Display (LCD) 14, wherein: left pinhole cameras 1 is installed on the most submarginal position of surveying back mirror outside the vehicle left side, right pinhole cameras 2 is installed on the most submarginal position of surveying back mirror outside the vehicle right side, back pinhole cameras 3 is installed on the center of compartment back shield, the output interface of three pinhole cameras links to each other with three image input interfaces of signal processor respectively, the output interface of driving condition coder 4 is connected with signal processor 5, the signal input interface of driving condition coder 4 links to each other with the signal output interface of vehicle, signal processor 5 has two output interfaces, first output interface of signal processor links to each other with the input interface of channel decoder 6, second output interface of signal processor 5 is connected to the input interface of Liquid Crystal Display (LCD) 14, the output interface of channel decoder 6 is connected with the input interface of electronic switching device 7, and the output interface of electronic switching device 7 is connected with the input interface of lock and the input interface of voice prompting device 13 simultaneously.
As shown in Figure 3, described driving condition coder 4, comprise: signal input interface 15, signal coder 16, digital signal output interface 17, wherein: signal input interface 15 comprises three input channels, first passage connects the left rotaring signal output interface of vehicle, second channel connects vehicle right turn signal output interface, third channel connects the astern signal output interface of vehicle, the output port of three signal input channels is connected with three input ports of signal coder 16 respectively, the output port of signal coder is connected with the input end of digital signal output interface, and the mouth of digital signal output interface is connected with the digital signal input interface of signal processor.
Left-hand rotation, right-hand rotation and the astern signal output interface of the signal input interface 15 of described driving condition coder 4 by vehicle receives the dc signal from left-hand rotation, right-hand rotation and astern signal lamp electrode two ends, when left-hand rotation, right-hand rotation or astern signal lamp are opened, the direct-flow positive voltage signal of left-hand rotation, right-hand rotation or the output of astern signal output interface, otherwise be output as 0; Three input ports of signal coder are when receiving direct-flow positive voltage, and three univibrators of in-to-in are triggered, output high level " 1 ", otherwise output low level " 0 ".When signal input interface 15 first input channels receive left rotaring signal is the direct-flow positive voltage input, and all the other two input channel received signals were for 0 when input, the output code of signal coder 16 is " 001 ", and expression chaufeur this moment is being operated or left lane change; When signal input interface 15 second input channels receive right turn signal is the direct-flow positive voltage input, and all the other two input channel received signals were for 0 when input, the output code of signal coder 16 is " 010 ", and expression chaufeur this moment is being operated and turned right or right lane change; When signal input interface 15 the 3rd input channel receives astern signal is the direct-flow positive voltage input, and all the other two input port received signals are when being 0 input, and the output code of signal coder 16 be " 100 ", and reversing is being operated in expression chaufeur at this moment; When the signal that receives when 15 3 input channels of signal input interface was 0 input, the output code of signal coder 16 be " 000 ", and expression vehicle at this moment is in the normal straight-ahead operation state.
As shown in Figure 4, described signal processor 5, comprise: left image input interface 18, right image input interface 19, back image input interface 20, first analog-to-digital conversion module 21, second analog-to-digital conversion module 22, the 3rd analog-to-digital conversion module 23, image processing program module 24, passage gating instruction output module 25, digital signal input interface 26, first output interface 27, second output interface 28, wherein: left image input interface 18 links to each other with left pinhole cameras output interface through vision cable, right image input interface 19 links to each other with right pinhole cameras output interface through vision cable, back image input interface 20 through vision cable with after the pinhole cameras output interface link to each other, a left side, right, the mouth of back image input interface is respectively with first, second, the input end of the 3rd analog-to-digital conversion module connects, the output port of first analog-to-digital conversion module 21 is connected with first input channel of image processing program module 24, the output port of second analog-to-digital conversion module 22 is connected with second input channel of image processing program module 24, and the output port of the 3rd analog-to-digital conversion module 23 is connected with the 3rd input channel of image processing program module 24; The digital signal output interface 17 of the input end of digital signal input interface and driving condition coder 4 links to each other, and the mouth of digital signal input interface is connected with the 4th input channel of image processing program module 24; The input port of passage gating instruction output module 25 is connected with first output port of image processing program module 24, the output port of passage gating instruction output module 25 is connected with the input end of signal processor 5 first output interfaces, the mouth of first output interface 27 of signal processor 5 is connected with the input interface of channel decoder 6, second output port of image processing program module 24 is connected with the input end of second output interface 28 of signal processor 5, and the mouth of second output interface 28 of signal processor 5 is connected with the input interface of Liquid Crystal Display (LCD) 14.
As shown in Figure 5, described image processing program module 24, it is the core technology module in the signal processor, comprise: the image pre-processing module, the Image Edge-Detection module, decision-making computing module and decision-making execution command output module, wherein: four input channels of image pre-processing module are connected with the mouth of the digital signal input interface 26 of the output port of three analog-to-digital conversion modules and signal processor 5 respectively, the output port of image pre-processing module is connected with the input port of Image Edge-Detection module, the output port of Image Edge-Detection module is connected with the input port of decision-making computing module, the output port of decision-making computing module is connected with the input port of decision-making execution command output module, first output port of decision-making execution command output module links to each other with passage gating instruction output module as first output port of image processing program module, and second output port of decision-making execution command output module is connected with the input end of signal processor second output interface as second output port of image processing program module.
That described image pre-processing module receives is left and right, left and right, the back view of back pinhole cameras transmission, carries out obtaining data image signal behind the pretreatment and is transferred to the Image Edge-Detection module;
Described Image Edge-Detection module is carried out Image Edge-Detection and is exported the edge image of binaryzation to the decision-making computing module;
Described decision-making computing module carries out the view data conversion with the binaryzation edge image by the number of pole-pairs coordinate transform, utilize the view data switching process to have object rotational invariance and convergent-divergent invariability and carry out tracking target, and then identify the state of kinematic motion of the pairing object that is captured of image, and be transferred to decision-making execution command output module;
Described decision-making execution command output module is according to the decision-making computing module that receives code output, that representing the state of kinematic motion of the object that is captured, and the driver behavior on-off signal determines whether to send to follow-up alarm module and electromechanical servo device and forbids lane change or turn or open the door or decision-making execution command such as reversing.
The instruction of described passage gating comprises: " no left turn ", no right turn, forbid L.H.flapped door, forbid R.H.flapped door, five instructions of forbidding moveing backward, every instruction is represented by 32 system machine codes, and specifically: 001 is that " no left turn ", 010 is that no right turn, 011 is for forbidding that L.H.flapped door, 100 is for forbidding that R.H.flapped door, 000 is for forbidding reversing.
Described channel decoder 6, promptly passage decoding module chip specifically adopts the HD74AC4514 chip, and its input port links to each other with first output interface of signal processor, and its output port is connected with the control input interface of electronic switching device.
Described electronic switching device 7, comprise: first input interface, electronic switch, wherein, the input termination 24V direct supply of first input interface, and link to each other with the output port of channel decoder, the mouth of first input interface and the input port of electronic switch also connect, and electronic switch comprises five, and the mouth of five electronic switchs is connected with the input interface of lock respectively.
Described electronic switch, be NPN type semiconductor switch pipe, five electronic switching tubes adopt the semiconductor switch pipe of same specifications and models, conducting when base stage surpasses 0.7V to emitter voltage, otherwise end, utilize the switching characteristic of semiconductor switch pipe to guarantee that two kinds of mode of operation switching processs of ON/OFF have the responsive time constant of the microsecond utmost point.
Described lock, have five, first lock 8, second lock 9, the 3rd lock 10, the 4th lock 11, the 5th lock 12, first lock 8 is the left-hand rotation lock, second lock 9 is the right-hand rotation lock, the 3rd lock 10 is the L.H.flapped door lock, the 4th lock 11 is the R.H.flapped door lock, the 5th lock 12 is a reverse lock, each lock includes: second input interface, relay switch and electromagnetism detacher, the input end of second input interface of each lock is corresponding with the mouth of five electronic switchs of five of voice prompting device input interface input terminations and electronic switching device respectively and connect, the mouth of second input interface is connected with the input end of relay switch, relay switch mouth be connected with the input end of electromagnetism detacher.
Described voice prompting device 13, comprise: the 3rd input interface, voltage attenuator, addressing device, digital voice module, D/A converter module, power amplifier module, loud speaker, wherein: the 3rd input interface comprises five input ends, corresponding with the mouth of five electronic switchs of the mouth of second input interface of five lock signals and electronic switching device respectively and connect, the mouth of the 3rd input interface is connected with the input port of voltage attenuator, the output port of voltage attenuator is connected with the input port of addressing device, the output port of addressing device is connected with the input port of digital voice module, the output port of digital voice module is connected with the input port of D/A converter module, the output port of D/A converter module is connected with the input port of power amplifier module, and the output port of power amplifier module is connected with the input port of loud speaker.
Described Liquid Crystal Display (LCD) is in order to the data image signal of shows signal treater output and the identifying information of scene image.
Present embodiment comprises following five kinds of situations in the course of the work:
First kind of situation, chaufeur is opened the left-hand rotation indicator lamp, driving condition coder 4 receives the left rotaring signal input immediately, this moment, signal processor 5 bases were discerned the left rear side scene image that left pinhole cameras 1 collects, judge: just having the speed of a motor vehicle to surpass the preceding vehicle of self on the left-hand lane subsequently, signal processor 5 is in real time to channel decoder 6 delivery channel gatings instructions " 001 ", under the control of this instruction, the first electronic switch conducting in the electronic switching device 7, make the 24V vdc arrive at the input interface of first lock 8, under the effect of first lock 8, electromagnetism detacher locking direction dish wherein, do not allow its left-hand rotation, simultaneously, voice prompting device 13 obtains under the situation of 24V vdc in input interface first termination, by its addressing device specify and read " left-lane has car, must not turn left or lane change! " leave the memory cell in the digital voice module in, " left-lane has car, must not turn left or lane change with being arranged at the small-sized Liquid Crystal Display (LCD) 14 prompting chaufeurs of driving on the dial plate by loud speaker in real time! ", chaufeur can also be seen vehicle on the left-hand lane situation that moves ahead in that Liquid Crystal Display (LCD) 14 is clear.
Second kind of situation, chaufeur is opened the indication of turning right, driving condition coder 4 receives the right turn signal input immediately, the identification that this moment, signal processor 5 carried out according to the right lateral side scene image that right pinhole cameras is collected, judge: just having the speed of a motor vehicle to surpass the preceding vehicle of self on the right-hand lane subsequently, signal processor 5 is in real time to channel decoder 6 delivery channel gatings instructions " 010 ", under the control of this instruction, the second electronic switch conducting in the electronic switching device 7, make the 24V vdc arrive at the input interface of second lock 8, under the effect of second lock 8, electromagnetism detacher locking direction dish wherein, do not allow its right-hand rotation, simultaneously, voice prompting device 13 obtains under the situation of 24V vdc in input interface second termination, by its addressing device specify and read " right lane has car, must not turn right or lane change! " leave the memory cell in the digital voice module in, " right lane has car, must not turn right or lane change with being arranged at the small-sized Liquid Crystal Display (LCD) 14 prompting chaufeurs of driving on the dial plate by loud speaker in real time! ", chaufeur can also be seen vehicle on the right-hand lane situation that moves ahead in that Liquid Crystal Display (LCD) 14 is clear.
The third situation, vehicle immobilization, the driver and conductor desires to open the left side car door, the identification that the left rear side scene image that left pinhole cameras is collected when signal processor 5 bases carries out, judge: vehicle left side is just having vehicle and/or pedestrian to move ahead, signal processor 5 is in real time to channel decoder 6 delivery channel gatings instructions " 011 ", under the control of this instruction, the 3rd electronic switch conducting in the electronic switching device 7, make the 24V vdc arrive at the input interface of the 3rd lock 8, under the effect of the 3rd lock 8, electromagnetism detacher locking left side door contact interrupter wherein, the occupant can't open the left side car door, and simultaneously, voice prompting device 13 obtains under the situation of 24V vdc in input interface the 3rd termination, by its addressing device specify and read " note vehicle left side, must not open the left side car door! " leave the memory cell in the digital voice module in, " the attention vehicle left side must not be opened the left side car doors with being arranged at the small-sized Liquid Crystal Display (LCD) 14 prompting chaufeurs of driving on the dial plate by loud speaker in real time! ", chaufeur can also be in the Liquid Crystal Display (LCD) 14 clear scenery situations of seeing vehicle left side.
The 4th kind of situation, vehicle immobilization, the driver and conductor desires to open the right side car door, the identification that the right lateral side scene image that right pinhole cameras is collected when signal processor 5 bases carries out, judge: the vehicle right side is just having vehicle and/or pedestrian to move ahead, signal processor 5 is in real time to channel decoder 6 delivery channel gatings instructions " 100 ", under the control of this instruction, quadrielectron switch conduction in the electronic switching device 7, make the 24V vdc arrive at the input interface of the 4th lock 8, under the effect of the 4th lock 8, electromagnetism detacher locking right side door contact interrupter wherein, the occupant can't open the right side car door, and simultaneously, voice prompting device 13 obtains under the situation of 24V vdc in input interface the 4th termination, by its addressing device specify and read " note the vehicle right side, must not open the right side car door! " leave the memory cell in the digital voice module in, " the right side car door must not be opened in attention vehicle right side with being arranged at the small-sized Liquid Crystal Display (LCD) 14 prompting chaufeurs of driving on the dial plate by loud speaker in real time! ", chaufeur can also be in the Liquid Crystal Display (LCD) 14 clear scenery situations of seeing the vehicle right side.
The 5th kind of situation, reversing, signal processor 5 bases are to a left side, right, identification and judgement that all scene images of three visual fields that three pinhole cameras in back collect carry out, find rear view of vehicle, or near vehicle left side, or there is vehicle on close vehicle right side, or pedestrian, or during obstacle, signal processor 5 is in real time to channel decoder 6 delivery channel gatings instructions " 000 ", under the control of this instruction, the 5th electronic switch conducting in the electronic switching device 7, make the 24V vdc arrive at the input interface of the 5th lock 8, under the effect of the 5th lock 8, electromagnetism detacher wherein locks electric push rod brake, do not allow vehicle continue reversing, simultaneously, voice prompting device 13 obtains under the situation of 24V vdc at input interface five terminal head, by its addressing device specify and read " note rear view of vehicle, must not move backward! " leave the memory cell in the digital voice module in, " the attention rear view of vehicle must not be moveed backward with being arranged at the small-sized Liquid Crystal Display (LCD) 14 prompting chaufeurs of driving on the dial plate by loud speaker in real time! ", chaufeur can also be in the Liquid Crystal Display (LCD) 14 clear scenery situations of seeing rear view of vehicle.
As long as any situation in above-mentioned five kinds of situations occurs, the present embodiment device all can send accurate information to chaufeur, point out it to avoid faulty operation, and guarantee that by automatic controls the faulty operation of chaufeur is stopped, otherwise, do not influence the normal driving of chaufeur at all, therefore can avoid to greatest extent vehicle lane change, about turn, reversing, and the contingent road traffic accident of switch car door during stagnation of movement, result of implementation confirms and the accident rate of the above-mentioned type can be reduced by 98%.
Claims (7)
1. intelligent back vision device for vehicle, it is characterized in that, comprise: pinhole cameras, the driving condition coder, signal processor, channel decoder, electronic switching device, lock, voice prompting device, Liquid Crystal Display (LCD), wherein: pinhole cameras has three, on the back mirror that two are separately positioned on the left and right vehicle wheel both sides, one is arranged on the compartment back shield, the output interface of three pinhole cameras links to each other with three image input interfaces of signal processor respectively, the output interface of driving condition coder is connected with the digital signal input interface of signal processor, the signal input interface of driving condition coder and the left-hand rotation of vehicle, turn right and link to each other with the astern signal output interface, signal processor has two output interfaces, first output interface of signal processor links to each other with the input interface of channel decoder, second output interface of signal processor is connected to the input interface of Liquid Crystal Display (LCD), the output interface of channel decoder is connected with the control input interface of electronic switching device, and the output interface of electronic switching device is connected with the input interface of lock and the input interface of voice prompting device simultaneously;
Described driving condition coder, comprise: signal input interface, signal coder, the digital signal output interface, wherein: signal input interface comprises three input channels, the input end of first passage connects the left rotaring signal output interface of vehicle, the input end of second channel connects vehicle right turn signal output interface, the input end of third channel connects the astern signal output interface of vehicle, signal coder comprises three univibrators, its input end links to each other with the mouth of three input channels of signal input interface respectively, its mouth is connected with the input end of digital signal output interface, and the mouth of digital signal output interface is connected with signal processor;
Described lock, have five, first lock is the left-hand rotation lock, second lock is the right-hand rotation lock, the 3rd lock is the L.H.flapped door lock, the 4th lock is the R.H.flapped door lock, the 5th lock is a reverse lock, each lock includes: second input interface, relay switch and electromagnetism detacher, the input end of second input interface of each lock is corresponding with the mouth of five electronic switchs of five of voice prompting device input interface input terminations and electronic switching device respectively and connect, the mouth of second input interface is connected with the input end of relay switch, and the mouth of relay switch is connected with the input end of electromagnetism detacher.
2. intelligent back vision device for vehicle according to claim 1, it is characterized in that, described signal processor, comprise: left image input interface, right image input interface, back image input interface, the digital signal input interface, first analog-to-digital conversion module, second analog-to-digital conversion module, the 3rd analog-to-digital conversion module, the image processing program module, passage gating instruction output module, first output interface, second output interface, wherein: left image input interface links to each other with left pinhole cameras output interface through vision cable, right image input interface links to each other with right pinhole cameras output interface through vision cable, back image input interface through vision cable with after the pinhole cameras output interface link to each other, a left side, right, the mouth of back image input interface is respectively with first, second, the input end of the 3rd analog-to-digital conversion module connects, the output port of first analog-to-digital conversion module is connected with first input channel of image processing program module, the output port of second analog-to-digital conversion module is connected with second input channel of image processing program module, and the output port of the 3rd analog-to-digital conversion module is connected with the 3rd input channel of image processing program module; The digital signal output interface of the input end of digital signal input interface and driving condition coder links to each other, and the mouth of digital signal input interface is connected with the 4th input channel of image processing program module; The input port of passage gating instruction output module is connected with first output port of image processing program module, the output port of passage gating instruction output module is connected with the input end of signal processor first output interface, the mouth of signal processor first output interface is connected with the input interface of channel decoder, second output port of image processing program module is connected with the input end of signal processor second output interface, and the mouth of signal processor second output interface is connected with the input interface of Liquid Crystal Display (LCD).
3. intelligent back vision device for vehicle according to claim 2, it is characterized in that, described image processing program module, it is the core technology module in the signal processor, comprise: the image pre-processing module, the Image Edge-Detection module, decision-making computing module and decision-making execution command output module, wherein: four input channels of image pre-processing module are connected with the output port of three analog-to-digital conversion modules and the mouth of digital signal input interface respectively, the output port of image pre-processing module is connected with the input port of Image Edge-Detection module, the output port of Image Edge-Detection module is connected with the input port of decision-making computing module, the output port of decision-making computing module is connected with the input port of decision-making execution command output module, first output port of decision-making execution command output module links to each other with passage gating instruction output module as first output port of image processing program module, and second output port of decision-making execution command output module is connected with the input end of signal processor second output interface as second output port of image processing program module.
4. intelligent back vision device for vehicle according to claim 3, it is characterized in that, described image pre-processing module reception is left and right, left and right, the back view of back pinhole cameras transmission, and the data image signal that carries out obtaining behind the pretreatment is transferred to the Image Edge-Detection module;
Described Image Edge-Detection module is carried out rim detection to digital image, and exports the edge image of binaryzation to the decision-making computing module;
Described decision-making computing module carries out the view data conversion with the edge image of binaryzation by the number of pole-pairs coordinate transform, utilize the view data switching process to have object rotational invariance and convergent-divergent invariability and carry out tracking target, and then identify the state of kinematic motion of the pairing object that is captured of image, and be transferred to decision-making execution command output module;
Described decision-making execution command output module, according to the decision-making computing module that receives code output, that representing the state of kinematic motion of the object that is captured, and the driver behavior on-off signal determines whether to send to follow-up alarm module and electromechanical servo device and forbids lane change or turn or open the door or the decision-making of move backward is executed instruction.
5. intelligent back vision device for vehicle according to claim 4, it is characterized in that, described decision-making execution command comprises: " no left turn ", no right turn, forbid L.H.flapped door, forbid R.H.flapped door, five instructions of forbidding moveing backward, every instruction is represented by 32 system machine codes, and specifically: 001 is that " no left turn ", 010 is that no right turn, 011 is for forbidding that L.H.flapped door, 100 is for forbidding that R.H.flapped door, 000 is for forbidding reversing.
6. intelligent back vision device for vehicle according to claim 1, it is characterized in that, described electronic switching device, comprise: first input interface, electronic switch, wherein, the input termination direct supply of first input interface, and link to each other with the output interface of channel decoder, the mouth of first input interface and the input interface of electronic switch also connect, and electronic switch comprises five, and the mouth of five electronic switchs is connected with the input interface of lock respectively.
7. intelligent back vision device for vehicle according to claim 1, it is characterized in that, described voice prompting device, comprise: the 3rd input interface, voltage attenuator, addressing device, digital voice module, D/A converter module, power amplifier module, loud speaker, wherein: the 3rd input interface comprises five input ends, corresponding with the mouth of five electronic switchs of the mouth of second input interface of five lock signals and electronic switching device respectively and connect, the mouth of the 3rd input interface is connected with the input port of voltage attenuator, the output port of voltage attenuator is connected with the input port of addressing device, the output port of addressing device is connected with the input port of digital voice module, the output port of digital voice module is connected with the input port of D/A converter module, the output port of D/A converter module is connected with the input port of power amplifier module, and the output port of power amplifier module is connected with the input port of loud speaker.
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| US8339253B2 (en) * | 2009-09-08 | 2012-12-25 | GM Global Technology Operations LLC | Methods and systems for displaying vehicle rear camera images in different modes |
| JP5397697B2 (en) * | 2010-03-12 | 2014-01-22 | アイシン精機株式会社 | Image control device |
| CN102431499A (en) * | 2011-11-29 | 2012-05-02 | 奇瑞汽车股份有限公司 | External rearview mirror system for eliminating visual barrier of car driver |
| CN102729888A (en) * | 2012-07-26 | 2012-10-17 | 李良杰 | Car door opening bidirectional prompting system |
| CN104290681A (en) * | 2013-07-15 | 2015-01-21 | 鸿富锦精密工业（深圳）有限公司 | Vehicle door opening control system and method |
| CN105059190B (en) * | 2015-08-17 | 2018-05-29 | 上海交通大学 | The automobile door opening collision warning device and method of view-based access control model |
| CN105491334A (en) * | 2015-11-30 | 2016-04-13 | 上海斐讯数据通信技术有限公司 | Intelligent driving real-time processing system and method thereof |
| CN105620391A (en) * | 2016-03-16 | 2016-06-01 | 宁波市江东精诚自动化设备有限公司 | Intelligent vehicle assistant system |
| TWI607911B (en) * | 2016-04-28 | 2017-12-11 | H P B Optoelectronic Co Ltd | Vehicle safety protection system and method |
| CN107089193A (en) * | 2017-04-21 | 2017-08-25 | 韩世杰 | The control system of rearview camera on a kind of vehicle |
| CN111583714A (en) * | 2020-04-27 | 2020-08-25 | 深圳市国脉科技有限公司 | Vehicle driving early warning method and device, computer readable medium and electronic equipment |
| CN111572449B (en) * | 2020-04-28 | 2022-04-29 | 东风汽车集团有限公司 | Intelligent automobile backing warning system and control method thereof |
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